7 Commits

Author	SHA1	Message	Date
Paul Riseborough	82da832816	EKF: tidy up Kalman gain calculations ... Inhibiting of states is controlled via zeroing rows and columns in the covariance prediction so conditional logic in gain calculations is unnecessary.	2016-05-05 21:23:03 +10:00
Paul Riseborough	fe9f88a8b4	EKF: test new derivation ... Use direct attitude parameterisation Discard scale factors Add accel bias	2016-05-05 21:23:03 +10:00
Paul Riseborough	5bf02517a7	EKF: Rationalise use of rotation matrices and improve efficiency	2016-04-12 11:14:31 +10:00
Paul Riseborough	b46053415f	EKF: Compensate optical flow data for sensor position offset	2016-04-12 11:14:31 +10:00
Paul Riseborough	48f980b054	EKF: Fix syntax causing posix build to fail	2016-03-11 11:03:43 +11:00
Paul Riseborough	dd1d58bab5	EKF: Remove unnecessary matrix operations from optical flow fusion ... The updated formulation means that H_LOS[][8] is always zero, so these operations are no longer required.	2016-03-11 11:03:43 +11:00
Paul Riseborough	122dd9c531	EKF: Add source file for optical flow LOS rate fusion	2016-03-11 11:03:43 +11:00